Gimbal motor mechanical limiting device and gimbal thereof

ABSTRACT

The present application discloses a motor mechanical limiting device for limiting rotation of a motor. The device includes: a limiting ring, a first limiting device, and a second limiting device. The first limiting device is fixedly connected on a rotor of motor. The second limiting device is fixed on a motor stator. The limiting ring is in bearing connection with the rotor of motor. The limiting ring protrudes to form a stopping edge. Both the first limiting device and the second limiting device are located on a circumferential rotation path of the stopping edge, and the second limiting device is provided with a region for the first limiting device to pass through.

CROSS-REFERENCE

This application is a continuation-in-part of U.S. application Ser. No.16/045,092, filed on Jul. 25, 2018, which is a continuation applicationof International Application No. PCT/CN2016/093604, filed on Aug. 5,2016, which claims priority of Chinese Patent Application 201620077412X,filed on Jan. 26, 2016, which is incorporated herein by reference in itsentirety.

TECHNICAL FIELD

The present application relates to the field of limiting technologies,and in particular, to a gimbal motor mechanical limiting device and agimbal thereof.

RELATED ART

A tri-axial gimbal generally includes three rotation axes: a yaw axisthat controls the gimbal to rotate around the z-axis, a roll axis thatcontrols the gimbal to rotate around the x-axis, and a pitch axis thatcontrols the gimbal to rotate around the y-axis. Generally, in the priorart, the yaw axis is directly connected to a gimbal support and drivesthe gimbal to rotate around the y-axis. A cable is connected between theyaw axis and the gimbal support, the yaw axis is thus not allowed todrive the gimbal support to rotate infinitely. It is necessary to use alimiting device to limit a maximum rotation angle of a rotor of the yawaxis. In the prior art, two limiting methods used are a mechanicallimiting device and a software limiting device. The mechanical limitingdevice generally implements limiting by using a limiting member fixed ona rotor of motor and a stop member fixed on a stator. By using such alimiting device, a rotation angle of the rotor is limited within 360°. Alarger angle of rotation can not be achieved. When software limiting isused, a maximum rotation angle of the motor is preset, so that the rotorof the motor stops immediately upon reaching the maximum rotation angle.Such a limiting method has a high requirement on the motor, and requiresas much as 100% of stability on the control of the programs. If thecontrol programs fail, the cable between the yaw axis and the gimbalsupport will be broken by the rotor of the motor.

SUMMARY

A main technical problem to be solved by the present application is toprovide a motor mechanical limiting device. In the mechanical limitingdevice, a limiting ring is in bearing connection with a rotor of motor;a first limiting device is fixed on the rotor of motor, and a secondlimiting device is fixed on the motor stator. During rotation, the motorfirst drives the first limiting device to rotate. When rotating to thelimiting ring, the first limiting device drives the limiting ring torotate together. The rotation stops at the second limiting device, sothat a rotation angle of the rotor exceeds 360°.

In order to solve the foregoing technical problem, one technicalsolution used by the present application is: a motor mechanical limitingdevice for limiting rotation of a motor is provided, including: alimiting ring, a first limiting device, and a second limiting device.The first limiting device is fixedly connected on a rotor of motor. Thesecond limiting device is fixed on a motor stator. The limiting ring isin bearing connection with the rotor of motor. The limiting ringprotrudes to form a stopping edge. Both the first limiting device andthe second limiting device are located on a circumferential rotationpath of the stopping edge. The second limiting device is provided with aregion for the first limiting device to pass through.

Further, the first limiting device includes: a connecting ring and afirst connecting rod. The connecting ring is fixedly sleeved over therotor of motor. One end of the first connecting rod is connected to theconnecting ring, and the other end of the first connecting rod is bentto form a stopping head. During rotation, the stopping head pushes thestopping edge, so as to drive the limiting ring to rotate.

Further, the connecting ring is located under the limiting ring. Thestopping head is located under the second limiting device.

Further, the second limiting device includes: a stop member and a secondconnecting rod. One end of the second connecting rod is fixed on thestator, and the other end of the second connecting rod is connected tothe stop member. A region for the stopping head to pass through isformed between the second connecting rod and the stop member.

Further, the first limiting device comprises: a third connecting rod,wherein a protrusion of one end of the third connecting rod formed astopping head, the other end of the third connecting rod is fixed on therotor of motor, and wherein during rotation, the stopping head pushesthe stopping edge, so as to drive the limiting ring to rotate.

Further, the third connecting rod is located upper the limiting ring,and the stopping head is located upper the second limiting device.

Further, the second limiting device comprises: a stop block, wherein theblock is fixed on the stator of motor, the height of the stop block isless than a distance between the bottom of the stopping head and thestator of motor.

Further, the first limiting device comprises: a fourth connecting rod,wherein a protrusion of one end of the fourth connecting rod formed astopping head, the other end of the fourth connecting rod is fixed onthe rotor of motor, and wherein during rotation, the stopping headpushes the stopping edge, so as to drive the limiting ring to rotate.

Further, the fourth connecting rod is located upper the limiting ring,and the stopping head is located upper the second limiting device.

Further, the second limiting device comprises: a stop block, wherein themiddle portion of the stop block provided an arc-shaped channel, thesize of the arc-shaped channel fits the size of the bottom of thestopping head, forming a region 16 for the stopping head to passthrough.

Further, the rotation angle range of the rotor of motor is greater than0° and less than 720°.

In order to solve the foregoing technical problem, the presentapplication further provides a gimbal, including a yaw axis structuredriving the whole gimbal to rotate. The gimbal rotates around the yawaxis structure and the rotation is preset in a certain range. The gimbalfurther includes a motor mechanical limiting device disposed on the yawaxis structure. The motor mechanical limiting device defines a maximumrotation angle of the gimbal around the yaw axis.

Further, the motor mechanical limiting device includes: a limiting ring,a first limiting device, and a second limiting device. The firstlimiting device is fixedly connected on a rotor of motor. The secondlimiting device is fixed on a motor stator. The limiting ring is inbearing connection with the rotor of motor. The limiting ring protrudesto form a stopping edge. Both the first limiting device and the secondlimiting device are located on a circumferential rotation path of thestopping edge. The second limiting device is provided with a region forthe first limiting device to pass through.

Further, the first limiting device includes: a connecting ring and afirst connecting rod. The connecting ring is fixedly sleeved over therotor of motor. One end of the first connecting rod is connected to theconnecting ring, and the other end of the first connecting rod is bentto form a stopping head. During rotation, the stopping head pushes thestopping edge, so as to drive the limiting ring to rotate.

Further, the second limiting device includes: a stop member and a secondconnecting rod. One end of the second connecting rod is fixed on thestator, and the other end of the second connecting rod is connected tothe stop member. A region for the stopping head to pass through isformed between the second connecting rod and the stop member.

Further, the first limiting device comprises: a third connecting rod,wherein a protrusion of one end of the third connecting rod formed astopping head, the other end of the third connecting rod is fixed on therotor of motor, and wherein during rotation, the stopping head pushesthe stopping edge, so as to drive the limiting ring to rotate.

Further, the second limiting device comprises: a stop block, wherein theblock is fixed on the stator of motor, the height of the stop block isless than a distance between the bottom of the stopping head and thestator of motor.

Further, the first limiting device comprises: a fourth connecting rod,wherein a protrusion of one end of the fourth connecting rod formed astopping head, the other end of the fourth connecting rod is fixed onthe rotor of motor, and wherein during rotation, the stopping headpushes the stopping edge, so as to drive the limiting ring to rotate.

Further, the second limiting device comprises: a stop block, wherein themiddle portion of the stop block provided an arc-shaped channel, thesize of the arc-shaped channel fits the size of the bottom of thestopping head, forming a region 16 for the stopping head to passthrough.

Further, a motor of the yaw axis structure is a servo motor.

The present application has the following beneficial effects: A motormechanical limiting device is provided. In the mechanical limitingdevice, the limiting ring is in bearing connection with a rotor ofmotor; the first limiting device is fixed on the rotor of motor, and thesecond limiting device is fixed on the motor stator. During rotation,the motor first drives the first limiting device to rotate. Whenrotating to the limiting ring, the first limiting device drives thelimiting ring to rotate together. The rotation stops at the secondlimiting device. An actual rotation angle of the rotor of motor is anangle between the first limiting device and the limiting ring plus anangle between the limiting ring and the second limiting device.Moreover, the second limiting device is provided with a region for thefirst limiting device to pass through. Therefore, the sum of the twoangles is greater than 360°.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic view of a first embodiment of a motor mechanicallimiting device according to the present application;

FIG. 2 is a schematic view of a second embodiment of a motor mechanicallimiting device according to the present application;

FIG. 3 is a schematic view of a third embodiment of a motor mechanicallimiting device according to the present application; and

FIG. 4 is a schematic view of a gimbal according to the presentapplication.

DESCRIPTION OF REFERENCE NUMERALS IN THE DRAWINGS

10, limiting ring; 11, stopping edge; 12, first limiting device; 13,second limiting device; 14, third connecting rod; 15, fourth connectingrod; 16, region that the stopping head passes through; 17, stoppinghead; 20, yaw axis; 21, stator; 22, rotor.

Detailed Description

The present application is described in detail in the following withreference to the accompanying drawings and embodiments.

Embodiment 1

Referring to FIG. 1 , a motor mechanical limiting device for limitingrotation of a motor includes: a limiting ring 10, a first limitingdevice 12 and a second limiting device 13. The first limiting device 12is fixedly connected on a rotor 22 of motor. The second limiting device13 is fixed on a motor stator 21. The limiting ring 10 is in bearingconnection with the rotor 22 of motor. The limiting ring 10 protrudes toform a stopping edge 11. Both the first limiting device 12 and thesecond limiting device 13 are located on a circumferential rotation pathof the stopping edge 11. The second limiting device 13 is provided witha region (not shown in the figure) for the first limiting device 12 topass through. Specifically, the first limiting device 12 includes: aconnecting ring (not shown in the figure) and a first connecting rod(not shown in the figure). The connecting ring is fixedly sleeved overthe rotor of motor. One end of the first connecting rod is connected tothe connecting ring, and the other end of the first connecting rod isbent to form a stopping head (not shown in the figure). During rotation,the stopping head pushes the stopping edge, so as to drive the limitingring to rotate. The connecting ring is located under the limiting ring,and the stopping head is located under the second limiting device 13.The second limiting device includes: a stop member (not shown in thefigure) and a second connecting rod (not shown in the figure). One endof the second connecting rod is fixed on the stator, and the other endof the second connecting rod is connected to the stop member. A regionfor the stopping head to pass through is formed between the secondconnecting rod and the stop member. The stop member is a block-like bumpthat is connected on the second connecting rod and has a shapeconsistent with that of the stopping head. According to differentapplication scenarios, the shape of the stopping head and the stopmember can be (but not limited to): a column, a triangle, and a sphere.The second connecting rod is connected at an external side of the stopmember. Therefore, a notch for the stopping head to pass through isformed between the stop member and the stator.

Referring to FIG. 2 , in some embodiments, a motor mechanical limitingdevice for limiting rotation of a motor includes: a limiting ring 10, afirst limiting device 12, and a second limiting device 13. The firstlimiting device 12 is fixedly connected on a rotor 22 of motor. Thesecond limiting device 13 is fixed on a motor stator 21. The limitingring 10 is in bearing connection with the rotor 22 of motor. Thelimiting ring 10 protrudes to form a stopping edge 11. Both the firstlimiting device 12 and the second limiting device 13 are located on acircumferential rotation path of the stopping edge. The second limitingdevice 13 is provided with a region (not shown) for the first limitingdevice 12 to pass through. Specifically, the first limiting device 12includes: a third connecting rod 14 and a stopping head 17 formed by aprotrusion at one end of the third connecting rod. The other end of thethird connecting rod 14 is fixed on the rotor 22 of motor. Duringrotation, the stopping head 17 pushes the stopping edge 11, so as todrive the limiting ring 10 to rotate. The third connecting rod 14 islocated above the limiting ring 10, and the stopping head 17 is locatedabove the second limiting device 13. The second limiting deviceincludes: a stop member (not shown). The stop member is a stop block(not shown) fixed on the stator of motor. The height of the stop blockis less than a distance between the bottom of the stopping head 17 andthe stator 21 of motor. Therefore, the region above the stop member is aregion for the stopping head to pass through. The shape of the stopmember is consistent with that of the stopping head. According todifferent application scenarios, the shape of the stopping head and thestop member can be (but not limited to): a column, a triangle, a squareor a sphere.

Referring to FIG. 3 , in some embodiments, a motor mechanical limitingdevice for limiting rotation of a motor includes: a limiting ring 10, afirst limiting device 12, and a second limiting device 13. The firstlimiting device 12 is fixedly connected on a rotor 22 of motor. Thesecond limiting device 13 is fixed on a motor stator 21. The limitingring 10 is in bearing connection with the rotor 22 of motor. Thelimiting ring 10 protrudes to form a stopping edge 11. Both the firstlimiting device 12 and the second limiting device 13 are located on acircumferential rotation path of the stopping edge. The second limitingdevice 13 is provided with a region for the first limiting device 12 topass through. Specifically, the first limiting device 12 includes: afourth connecting rod 15 and a stopping head 17 formed by a protrusionformed at one end of the fourth connecting rod. The other end of thefourth connecting rod 15 is fixed on the rotor 22 of motor. Duringrotation, the stopping head 17 pushes the stopping edge 11, so as todrive the limiting ring 10 to rotate. The fourth connecting rod 15 islocated above the limiting ring 10, and the stopping head 17 is locatedabove the second limiting device 13. The second limiting device 13includes: a stop member (not shown). The stop member is a stop block(not shown) provided with an arc-shaped channel in a middle portion. Thesize of the arc-shaped channel fits the size of the bottom of thestopping head, forming a region 16 for the stopping head to passthrough.

In the present application, the rotation angle range of a motor mountedwith the motor mechanical limiting device is: greater than 0° and lessthan 720°. The degree of the angle limited by the motor mechanicallimiting device lies in the degree of an angle occupied by the stoppinghead, the stopping edge and the limiting member when they are incontact. Therefore, an actual rotation angle of the rotor is 720° minusthe intersection angle occupied by the shopping head, the stopping edgeand the limiting member when they are in contact.

A specific operation process of the present application is as follows:The rotor of motor rotates and drives the first limiting device fixedlyconnected with the rotor to rotate simultaneously. After the firstlimiting device rotates at a certain angle, the stopping head contactsthe stopping edge on the limiting ring and the limiting ring is inbearing connection with the rotor. Therefore, when the rotor rotates,the limiting ring does not rotate. After contacting the stopping edge,the stopping head pushes the limiting ring to rotate together. After thelimiting ring and the stopping head rotate together at a certain angle,the limiting ring contacts the second limiting device and the rotationstops. The first limiting device may pass by the position of the secondlimiting device before contacting the limiting ring.

Embodiment 2

Referring to FIG. 4 , a gimbal includes a yaw axis structure 20 drivingthe whole gimbal to rotate. The gimbal rotates around the yaw axisstructure and the rotation is preset in a certain range. The gimbalfurther includes a motor mechanical limiting device disposed on the yawaxis structure, and the motor mechanical limiting device defines amaximum rotation angle of the gimbal around the yaw axis. The motormechanical limiting device used on the yaw axis structure is the motormechanical limiting device described in Embodiment 1.

In this embodiment, the gimbal employs double limiting devices: amechanical limiting device and a software limiting device. A motor usedon the yaw axis structure is a servo motor that can conduct an accurateangle control according to pulses. A maximum rotation angle is set in aservo motor control program to ensure that the rotation of the motor iswithin a defined range. The motor mechanical limiting device is used asguarantee of the software-controlled limiting device, so as to preventthe internal cables of the gimbal from damaging in the case when themotor is out of control due to any causes that leads to the malfunctionof the motor rotation.

The present application has the following beneficial effect: Doubleangle limiting devices are used, ensuring rotation reliability of thegimbal. The motor mechanical limiting device is used, so that the gimbalcan implements a rotation of more than 360°, improving the performanceof the gimbal.

It should be noted that although the specification of the presentapplication and the accompanying drawings thereof have given preferredembodiments of the present application, the present application can beimplemented in many different forms and is not limited to theembodiments described in the specification. The embodiments are not usedas extra limit on the content of the present application. Theembodiments are provided so that the disclosure of the presentapplication can be understood more thoroughly and comprehensively.Moreover, the technical features above can be further combined with eachother to form various embodiments that are not listed above, which areall considered within the disclosure range of the specification of thepresent application. Further, a person of ordinary skill in the art canimprove or change the foregoing description, and all the improvementsand changes should belong to the protection scope of the presentapplication.

What is claimed is:
 1. A gimbal, comprising a yaw axis structure drivingthe whole gimbal to rotate, the gimbal rotating around the yaw axisstructure and the rotation being preset in a certain range, wherein thegimbal further comprises at least a two motor mechanical limiting devicefor defining a maximum rotation angle of the gimbal around the yaw axis;wherein the motor mechanical limiting device comprising: a limitingring, a first limiting device, and a second limiting device, wherein thefirst limiting device is fixedly connected on a rotor of a motor, thesecond limiting device is fixed on a motor stator, and the limiting ringis in bearing connection with the rotor of the motor, wherein thelimiting ring protrudes to form a stopping edge, both the first limitingdevice and the second limiting device are located on a circumferentialrotation path of the stopping edge, and wherein the second limitingdevice is provided with a region for the first limiting device to passthrough.
 2. The gimbal according to claim 1, wherein the first limitingdevice comprises: a connecting ring and a first connecting rod, whereinthe connecting ring is fixedly sleeved over the rotor of the motor, oneend of the first connecting rod is connected to the connecting ring, andthe other end of the first connecting rod is bent to form a stoppinghead, and wherein during rotation, the stopping head pushes the stoppingedge, so as to drive the limiting ring to rotate.
 3. The gimbalaccording to claim 2, wherein the connecting ring is located under thelimiting ring, and the stopping head is located under the secondlimiting device.
 4. The gimbal according to claim 2, wherein the secondlimiting device comprises: a stop member and a second connecting rod,wherein one end of the second connecting rod is fixed on the stator, theother end of the second connecting rod is connected to the stop member,and wherein a region for the stopping head to pass through is formedbetween the second connecting rod and the stop member.
 5. The gimbalaccording to claim 1, wherein the first limiting device comprises: aconnecting rod, wherein a protrusion of one end of the third connectingrod forms a stopping head, the other end of the third connecting rod isfixed on the rotor of the motor, and wherein during rotation, thestopping head pushes the stopping edge, so as to drive the limiting ringto rotate.
 6. The gimbal according to claim 5, wherein the thirdconnecting rod is located above the upper limiting ring, and thestopping head is located upper the second limiting device.
 7. The gimbalaccording to claim 1, wherein the second limiting device comprises: astop block, wherein the block is fixed on the stator of the motor, theheight of the stop block is less than a distance between the bottom ofthe stopping head and the stator of the motor.
 8. The gimbal accordingto claim 1, wherein the first limiting device comprises: a connectingrod, wherein a protrusion of one end of the fourth connecting rod formeda stopping head, the other end of the fourth connecting rod is fixed onthe rotor of the motor, and wherein during rotation, the stopping headpushes the stopping edge, so as to drive the limiting ring to rotate. 9.The gimbal according to claim 8, wherein the fourth connecting rod islocated above the upper limiting ring, and the stopping head is locatedupper the second limiting device.
 10. The gimbal according to claim 8,wherein the second limiting device comprises: a stop block, wherein themiddle portion of the stop block provided an arc-shaped channel, thesize of the arc-shaped channel fits the size of the bottom of thestopping head, forming a region 16 for the stopping head to passthrough.
 11. The gimbal according to claim 1, wherein a motor of the yawaxis structure is a servo motor.
 12. The gimbal according to claim 1,wherein the rotation angle range of the rotor of the motor is greaterthan 0° and less than 720°.